Surgical instrument apparatus, actuator, and drive

ABSTRACT

A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link. A proximate end of the manipulator may be laterally offset to facilitate location of the surgical instrument apparatus closely adjacent to another surgical instrument apparatus. The manipulator may include an unactuated articulated portion disposed between the rigid portion and the chassis.

TECHNICAL FIELD

This disclosure relates generally to a surgical instrument apparatus forperforming a surgical procedure within a body cavity of a patient.

DESCRIPTION OF RELATED ART

Surgical instruments used in laparoscopic and/or robotic surgerygenerally have a proximally located actuator that may be used to actuatea distal end effector for performing a surgical task within a bodycavity of a patient. Such instruments may be used in applications wherethere is an area of limited access for an operator. The distal end ofthe instrument may be inserted into the area of limited access and theoperator may remotely manipulate the instrument via the actuator. Theactuator may be located outside the area of limited access, but theremay still be constraints placed on the extents of the actuator. Thereremains a need for actuators and drivers that are suitable forlaparoscopic and/or robotic instruments.

SUMMARY

In accordance with one disclosed aspect there is provided a surgicalinstrument apparatus for performing a surgical procedure within a bodycavity of a patient. The apparatus can include an elongate manipulatorwith a distal end configured to receive an end effector and including aplurality of control links extending through the manipulator andconfigured to cause movement of the distal end of the manipulator inresponse to movement of the control links in a longitudinal directiongenerally aligned with a length of the manipulator. The apparatus canalso include an actuator chassis disposed at a proximal end of themanipulator, the actuator chassis including a plurality of actuatorsslidingly mounted within the actuator chassis and configured to movelinearly in a direction aligned with the longitudinal direction, eachactuator being coupled to one of the control links. The actuators areadjacently disposed about a curved periphery of the actuator chassis andincluding an outwardly oriented portion configured to couple a driveforce to the actuator to cause movement of the control link.

The curved periphery of the actuator chassis may be cylindrically shapedand the plurality of actuators may be mounted within slots extendinglongitudinally along the periphery and radially arranged about theperiphery.

The actuator chassis periphery may include a curved portion and a flatportion and the plurality of actuators may be mounted within slotsextending longitudinally along the curved portion and radially arrangedabout the curved portion, the flat portion facilitating location of thesurgical instrument apparatus adjacent (for example, closely adjacent)to another apparatus including a corresponding flat portion.

The another apparatus including the corresponding flat portion mayinclude another of the surgical instrument apparatus and the respectiveflat portions may facilitate location of the respective elongatemanipulators in proximity (for example, close proximity) for insertionthrough a common access port inserted or positioned to provide access tothe body cavity of the patient.

The outwardly oriented portions of the plurality of actuators may beeach shaped to engage a corresponding drive coupler configured to couplethe drive force to the actuator.

The actuator coupling portion of the actuator may include a protrusionthat extends outwardly beyond the curved periphery of the actuatorchassis.

The apparatus may include a drive chassis including a respectiveplurality of drive couplers configured to couple drive forces to theplurality of actuators, the drive couplers arranged about the peripheryof the actuator chassis, each drive coupler may include an open channelportion configured to receive the respective actuator protrusions whenthe actuator chassis is inserted into the drive chassis, and a retainingportion configured to receive and retain the respective actuatorprotrusions when the drive chassis and the actuator chassis are rotatedthorough an angle to cause the retaining portions to engage therespective actuator protrusions.

The drive chassis may be configured to permit the manipulator to beinserted through the drive chassis to cause the open channel portions toreceive the respective actuator protrusions.

The actuator chassis may include a transition portion between themanipulator and the actuator chassis, the transition portion configuredto laterally displace the control links for coupling to the respectiveactuators.

The manipulator may include at least one end effector control linkconfigured to couple to an end effector and the actuator chassis mayinclude at least one end effector actuator coupled to the end effectorcontrol link to actuate movements of the end effector.

The at least one end effector actuator may be mounted within theactuator chassis to permit at least one of longitudinal movementconfigured to actuate opening or closing of an end effector, orrotational movement configured to cause a corresponding rotation of theend effector.

The at least one end effector actuator may include a single end effectoractuator configured to perform both the longitudinal movement and therotational movement.

The at least one end effector control link may be routed along a centralbore of the actuator chassis and the end effector actuator may bemounted at a distal portion of the actuator chassis.

The manipulator may include a rigid portion connected to the actuatorchassis, and an actuatable articulated portion configured to cause themovement of the distal end of the manipulator in response to thelongitudinal movement of the control links.

The apparatus may include an unactuated articulated portion disposedbetween the rigid portion and the chassis, the unactuated articulatedportion configured to permit the manipulator to be bent to reduce anoverall length of the manipulator and actuator chassis during cleaningand sanitizing of the apparatus.

In accordance with another disclosed aspect there is provided a surgicalinstrument apparatus for performing a surgical procedure within a bodycavity of a patient. The apparatus can include an elongate manipulatorwith a distal end configured to receive an end effector and including aplurality of control links extending through the manipulator andconfigured to cause movement of a distal end of the manipulator inresponse to movement of the control links in a longitudinal directiongenerally aligned with a length of the manipulator. The apparatus canalso include an actuator chassis disposed at a proximal end of themanipulator, the actuator chassis including a plurality of actuatorsmounted within the actuator chassis, each actuator being coupled to oneof the control links configured to couple a drive force to the actuatorto cause movement of the control link. The proximate end of themanipulator can be laterally offset to facilitate location orpositioning of the surgical instrument apparatus adjacent (such as,closely adjacent) to another surgical instrument apparatus for insertionor positioning through a common access port inserted to provide accessto the body cavity of the patient.

The manipulator may include a rigid portion connected to the actuatorchassis, and an actuatable articulated portion configured to cause themovement of the distal end of the manipulator in response tolongitudinal movement of the control links.

The apparatus may include an unactuated articulated portion disposedbetween the rigid portion and the actuator chassis, the unactuatedarticulated portion configured to permit the manipulator to be bent toreduce an overall length of the manipulator and actuator chassis duringcleaning and sanitizing of the apparatus.

The proximate end of the manipulator can be laterally offset tofacilitate positioning of the surgical instrument adjacent to theanother surgical instrument apparatus so that spacing between themanipulator and another manipulator of the another surgical instrumentis between about 10 millimeters and about 35 millimeters.

In accordance with another disclosed aspect there is provided a surgicalinstrument apparatus for performing a surgical procedure within a bodycavity of a patient. The apparatus can include an elongate manipulatorwith a distal end configured to receive an end effector and including aplurality of control links extending through the manipulator andconfigured to cause movement of a distal end of the manipulator inresponse to movement of the control links in a longitudinal directiongenerally aligned with a length of the manipulator. The apparatus canalso include an actuator chassis disposed at a proximal end of themanipulator, the actuator chassis including a plurality of actuatorsmounted within the actuator chassis, each of the plurality of actuatorsbeing coupled to one of the control links configured to couple a driveforce to the actuator to cause movement of the control link. Themanipulator can include a rigid portion connected to the actuatorchassis, and an actuatable articulated portion configured to cause themovement of the distal end of the manipulator in response tolongitudinal movement of the control links. The apparatus can furtherinclude an unactuated articulated portion disposed between the rigidportion and the chassis, the unactuated articulated portion configuredto permit the manipulator to be bent to reduce an overall length of themanipulator and actuator chassis during cleaning and sanitizing of theapparatus. Other aspects and features will become apparent to thoseordinarily skilled in the art upon review of the following descriptionof specific disclosed embodiments in conjunction with the accompanyingfigures.

BRIEF DESCRIPTION OF THE DRAWINGS

In drawings which illustrate disclosed embodiments,

FIG. 1 is a perspective view of a surgical instrument apparatus forperforming a surgical procedure within a body cavity of a patient;

FIG. 2 is a partially cut away perspective view of an actuator chassisof the surgical instrument apparatus shown in FIG. 1;

FIG. 3A is a perspective view of an actuator of the actuator chassisshown in partial engagement with a drive coupler;

FIG. 3B is a perspective view of the actuator shown in full engagementwith the drive coupler;

FIG. 4A is a perspective view of a drive chassis including a pluralityof the drive couplers shown in FIGS. 3A and 3B and the actuator chassisof FIG. 2 being inserted into the drive chassis;

FIG. 4B is a perspective view of the drive chassis of FIG. 4A showingthe actuator chassis in partial engagement with the drive chassis;

FIG. 4C is a perspective view of the drive chassis of FIG. 4B showingthe actuator chassis in full engagement with the drive chassis;

FIG. 5A is a perspective view of a surgical instrument apparatus inaccordance with another embodiment;

FIG. 5B is a perspective view of a pair of the surgical instrumentapparatus shown in FIG. 5A disposed adjacently for insertion through acommon access port;

FIG. 6 is a perspective view of a pair of surgical instruments disposedadjacently for insertion through a common access port operation inaccordance with another embodiment; and

FIG. 7 is a perspective view a surgical instrument apparatus inaccordance with another embodiment.

DETAILED DESCRIPTION

Referring to FIG. 1, a surgical instrument apparatus for performing asurgical procedure within a body cavity of a patient is shown generallyat 100. The apparatus 100 includes an elongate manipulator 102 having adistal end 104 for receiving an end effector 106. The manipulator 102includes a plurality of control links 108 extending through themanipulator. The plurality of control links 108 are operable to causemovement of the distal end 104 of the manipulator in response tomovement of the control links in a longitudinal direction 110 generallyaligned with a length of the manipulator. The apparatus 100 alsoincludes an actuator chassis 120 disposed at a proximal end 112 of themanipulator 102. The actuator chassis 120 includes a plurality ofactuators 122 slidingly mounted within the actuator chassis for linearmovement in a direction aligned with the longitudinal direction 110. Inthe embodiment shown, the actuators 122 are adjacently mounted withinrespective slots 124 disposed on a curved periphery 126 of the actuatorchassis 120.

In the embodiment shown, the manipulator 102 includes a rigid portion114 connected to the actuator chassis 120 and an articulated portion 116that is actuatable to cause the movement of the distal end 104 of themanipulator in response to the longitudinal movement of the controllinks 108. The articulated portion 116 includes a plurality of coupledguides 118 mounted end-to-end and operable to move in response topulling or pushing of the plurality of control links 108 as described incommonly owned PCT patent publication WO2014/201538 entitled“ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME” filed on Dec.20, 2013 and incorporated herein by reference in its entirety. In otherembodiments, the manipulator 102 may include structures other than thecoupled guides 118 for causing movement of the distal end 104 of themanipulator.

Referring to FIG. 2, the proximal end 112 of the manipulator 102 and theactuator chassis 120 are shown with the actuator chassis partially cutaway. In one embodiment, the plurality of control links 108 areimplemented as wires routed through respective bores 200 extendingthrough the manipulator 102. The actuator chassis 120 has a transitionportion 202 between the proximal end 112 of the manipulator 102 and theactuator chassis. In this embodiment the transition portion 202 includesa bulkhead 204 having openings 206 that cause the respective controllinks 108 to be laterally displaced toward the curved periphery 126 ofthe actuator chassis 120. The transition portion 202 facilitates themovement of the control links 108 along their respective axes whilepreventing drift of the control links 108. In one embodiment, thetransition portion 202 may include curved conduit (not shown) extendingbetween the proximal end 112 of the manipulator 102 and the bulkhead 204for receiving and guiding control links 108 through the transitionportion. Each actuator 122 is coupled to one of the control links 108.The control links 108 may be implemented using nitinol wire, which iscapable of bending through an arc while still transmitting force intension or compression. Nitinol is an alloy of nickel and titaniumhaving shape memory and superelasticity and is capable of transmittingforces of about 200N. In other embodiments, the control links 108 may beimplemented using other commonly used wires such as stranded cables usedin laparoscopic instruments.

One actuator 208 of the plurality of actuators 122 is shown displacedlongitudinally within the slot 124. The longitudinal displacement of theactuator 208 causes the coupled control link 108 to be correspondinglypulled rearwardly within the actuator chassis 120. Other actuators 122such as the adjacent actuators 210 and 212 are similarly moveable withinthe respective slots 124 to push or pull the associated control link108. In the embodiment shown, the curved periphery 126 of the actuatorchassis 120 is cylindrically shaped and the slots 124 are radiallyarranged about the curved periphery.

Referring back to FIG. 1, in one embodiment pairs of the control links108 are coupled to coupler segments 130, 132, and 134. Actuation of thecontrol links 108 by the actuators 122 causes the coupled guides 118between each of the coupler segments to be displaced laterally to causethe distal end 104 and the end effector 106 to be moved into a desiredposition and orientation. A portion of the coupler segment 132 is showncut away in an insert 136. In this embodiment a first pair 138, 140 ofthe plurality of control links 108 terminate within the coupler segment132 and when the control link 138 is pushed by advancing the associatedactuator 122 while the control link 140 is pulled by rearwardlyretracting the associated actuator 122 within its slot, the couplersegment 132 is moved laterally. Similarly, a second pair 142, 144 of theplurality of control links 108 terminate within the coupler segment 132and when the control link 142 is pushed by advancing the associatedactuator 122 within its slot while the control link 144 is pulled byrearwardly retracting the associated actuator 122 within its slot, thecoupler segment 132 is moved vertically upward. Reversal of the pushingand pulling of the respective actuators 122 causes a respective lateralmovement to the opposite side or downward movement.

In another embodiment, the first pair 138, 140 of the plurality ofcontrol links 108 may be respectively used for pulling motions without acorresponding pushing motion. In this embodiment when the control link140 is pulled by rearwardly retracting the associated actuator 122within its slot (while the control link 138 is let out by acorresponding amount, such as, for example, by advancing the associatedactuator 122 or by allowing the actuator 122 to feely float), thecoupler segment 132 is moved laterally. Similarly, in anotherembodiment, for the second pair 142, 144 of the plurality of controllinks 108 when the control link 144 is pulled by rearwardly retractingthe associated actuator 122 within its slot (while the control link 142is let out by a corresponding amount, such as, for example, by advancingthe associated actuator 122 or by allowing the actuator 122 to freelyfloat), the coupler segment 132 is moved vertically upward. Reversal ofthe pulling of the respective actuators 122 causes a respective lateralmovement to the opposite side or downward movement.

Combinations of lateral and vertical movement will cause the 132 to movein any direction within a working volume of the manipulator 102. Thecoupler segment 134 may be similarly moved via other pairs of controllinks 108 actuated by the respective actuators 122 to point in anydirection within the working volume. Further as described in commonlyowned PCT patent publication WO2014/201538, the coupled guides 118between the rigid portion 114 and the coupler segment 130 and thecoupled guides between the coupler segment 130 and the coupler segment132 may be configured to maintain the orientation of the coupler segment132 substantially the same as the rigid portion 114. In this case, theguides 118 within these portions of the articulated portion 116 areconstrained to move as a two-dimensional parallelogram by a set of wirelinks extending between the rigid portion 114 and the coupler segment132.

Still referring to FIG. 1, each of the actuators 122 includes anoutwardly oriented portion 150 that facilitates coupling a drive forceto the actuator to cause movement of the coupled control link. In thisembodiment, the outwardly oriented portions 150 also protrude outwardlywith respect to the curved periphery 126. Referring to FIG. 3A, one ofthe actuators 122 is shown in isolation in engagement with a drivecoupler 300. The drive coupler 300 may be part of an instrument drive ofa robotic surgery system (not shown). The drive coupler 300 includes acurved outer wall 302 and a first end wall 304 extending radiallyinwardly from the curved outer wall and defining an open channel 306 inthe drive coupler. The open channel 306 is sized to receive theprotruding portion 150 of the actuator 122 when slid into the drivecoupler 300 in the direction indicated by the arrow 308 in FIG. 3A. Oncereceived within the opening 306, the drive coupler 300 is rotated in thedirection of the arrow 310 to engage the outwardly oriented portion 150of the actuator 122 as shown in FIG. 3B.

Referring to FIG. 3B, the drive coupler 300 further includes a secondend wall 312 extending over the full length of the curved outer wall302. The outwardly oriented portion 150 of the actuator 122 is engagedbetween the first end wall 304 and the second end wall, which define aretaining portion for receiving and retaining the actuator protrusion150 when the drive coupler 300 is rotated thorough an angle to cause theretaining portions to engage the actuator protrusion. Once the drivecoupler 300 is engaged, a force F applied to the drive coupler 300 istransmitted to the outwardly oriented portion 150 to cause longitudinalmotion of the actuator 122 within the associated slot 124.

Referring to FIG. 4A, in the embodiment shown a plurality of the drivecouplers 300 shown in FIGS. 3A and 3B are arranged to provide a drivechassis 400. The drive couplers 300 are annularly arranged about theperiphery 126 of the actuator chassis 120 with the open channels 306aligned with the outwardly oriented portions 150 of the actuators 122.The drive chassis 400 is configured to permit the manipulator 102 to beinserted through the drive chassis when loading the surgical instrumentapparatus 100. The open channels 306 of the drive couplers 300 receivethe respective actuator protrusions 150 as shown in FIG. 4B. Referringto FIG. 4B, the drive chassis 400 and/or actuator chassis 120 is thenrotated thorough an angle in a direction indicated by the arrow 402 tocause the retaining portions (i.e. first and second end walls 304 and312, shown in FIGS. 3A and 3B) to engage the respective actuatorprotrusions 150 as shown in FIG. 4C. Referring to FIG. 4C, once thedrive couplers 300 are engaged, each drive coupler is able toindependently move back and forward in the longitudinal direction 110 tocouple drive forces to the respective actuators 122. In one embodimentthe drive chassis 400 is part of an instrument drive (not shown) thatgenerates and couples individual drive forces to the respective drivecouplers 300. The instrument drive may be implemented as part of arobotic surgery system in which operator input received at an inputdevice is used to generate drive signals, which are used to control theinstrument drive for causing manipulation of the manipulator 102 via thedrive chassis 400 and actuator chassis 120.

In the embodiment shown in FIG. 1, eight actuators 122 and associatedcontrol links 108 are provided. Four of these actuators 122 causemovement of the coupler segment 132, while the remaining four actuatorscause movement of the coupler segment 134. Referring back to FIG. 2, themanipulator 102 further includes a central bore 220 that in thisembodiment accommodates an end effector control link 222. The endeffector control link 222 is coupled to the end effector 106 for causingopening of the actuator jaws and/or causing rotation of the actuatorabout a longitudinal axis of the manipulator 102. The end effectorcontrol link 222 is routed through the actuator chassis 120 and coupledto an end cap 224 at a distal end of the actuator chassis. In oneembodiment, the end cap 224 is able to rotate in the direction of thearrow 226, which rotates the end effector control link 222 causingcorresponding rotation of the end effector at the distal end 104 of themanipulator 102. Additionally, the end cap 224 may also be configured tomove in the longitudinal direction 110 to actuate longitudinal back andforth movement of the end effector control link 222 for opening andclosing the end effector. The single end effector control link 222 maythus be operable to actuate both rotation and opening/closing movementsof the end effector 106. In other embodiments, the end effector controllink 222 may be configured as a hollow torque tube that provides therotational actuation to the end effector 106, while an additionalcontrol link may be routed through the central bore 220 to actuate theopening and closing movements of the end effector 106.

Referring to FIG. 5A, an actuator chassis in accordance with anotherembodiment is shown generally at 500. The periphery of the actuatorchassis 500 includes a curved portion 502 and a flat portion 504. Theactuator chassis 500 includes a plurality of actuators 506 configuredgenerally as described above. The plurality of actuators 506 are mountedin respective slots 508 extending longitudinally along the curvedportion 502 of the actuator chassis 500. The actuators 506 are radiallyarranged about the curved portion 502 and the actuator chassis 500 iscoupled to a manipulator 102 (shown in part) as generally describedabove.

In many cases two or more of the surgical instrument apparatus 100 maybe used during a surgical procedure performed through a single commonaccess port (i.e. a single incision or opening to a body cavity of apatient). Referring to FIG. 56, the flat portion 504 of the actuatorchassis 500 facilitates closely spacing the actuator adjacent to asecond actuator chassis 510 having a corresponding flat portion 512. Theclose spacing has the advantage of spacing the manipulator 102 and amanipulator 514 coupled to the actuator chassis 510 in relatively closeproximity for insertion through a common access port and/or trocar (notshown). The spacing D between the manipulators may be less than about 10millimeters, about 10 millimeters, about 20 millimeters, about 21.5millimeters, about 35 millimeters, about 40 millimeters, or greater thanabout 35 millimeters or 40 millimeters, such as about 50 millimeters or60 millimeters. The spacing D between the manipulators may be betweenabout 10 millimeters (or less) and about 20 millimeters (or more),between about 10 millimeters (or less) and about 35 millimeters (ormore), between about 10 millimeters (or less) and about 40 millimeters(or more), between about 20 millimeters (or less) and about 35millimeters (or more), or between about 20 millimeters (or less) andabout 40 millimeters (or more). The further off-center the manipulator102 and the manipulator 514 are from the respective actuator chassis 500and 510 such that the spacing D is reduced, the smaller the diameter ofthe common access port/trocar. Each of the actuator chassis 500 and theactuator chassis 510 would be received within a drive chassis (notshown) configured to accommodate and provide drive forces for operatingthe side-by-side surgical instruments.

Referring to FIG. 6, an alternative arrangement for side-by-sidesurgical instrument operation includes a first actuator chassis 600disposed spaced apart from a second actuator chassis 602. Each actuatorchassis 600, 602 has a respective manipulator 604 and 606 coupled to thechassis. The manipulators 604 and 606 have respective actuatablearticulated portions 608 and 610 configured generally as described abovein connection with the FIG. 1 embodiment. The manipulators 604 and 606each have respective rigid portions 612 and 614. The rigid portion 612of the manipulator 604 has a leftward laterally offset portion 620 whilethe manipulator 606 has a rightward laterally offset portion 622. Theleft and right laterally offset portions 620 and 622 facilitate closelyadjacent location of the respective articulated portions 608 and 610 ofthe manipulators 604 and 606 for insertion through a common access port.

Referring to FIG. 7, a surgical instrument apparatus in accordance withanother embodiment is shown generally at 700. The surgical instrumentapparatus 700 includes an actuator chassis 702 configured generally asdisclosed above. The actuator chassis 702 is coupled to a manipulator704 including a rigid portion 706 and an actuatable articulated portion708 also configured generally as disclosed above. In this embodiment,the surgical instrument apparatus 700 further includes an articulatedportion 712 disposed between the rigid portion 706 and the actuatorchassis 702. The articulated portion 712 permits the manipulator to bebent as shown in FIG. 7 to reduce an overall length of the instrument(i.e. manipulator and actuator chassis). The articulated portion 712 maybe actuated during a surgical procedure or may be a passive portion thatis not actuated during the procedure.

In many cases the surgical instrument apparatus 700 may be reusable andcleaning and sanitization following use in a surgical procedure is thusrequired. The overall length of the surgical instrument apparatus 100shown in FIG. 1 may prohibit its accommodation within the conventionalsanitization equipment. The articulated portion 712 facilitates bendingof the instrument to reduce the overall dimensions that may make theinstrument more readily accommodated in a decontamination sink or achamber of a washer/disinfector commonly used for cleaning andsanitization in surgical environments. Additional bending to accommodatelimited space constraints during cleaning and sanitization may beenabled by having the actuatable articulated portion 708 at leastpartially bendable/flexible during cleaning and sanitization (i.e. whennot in surgical use). This additional bending and/or the bending ofarticulated portion 712 may be facilitated by may allowing the controllinks extending through the manipulator 704 to move into a relaxedstate, for example by maneuvering the actuators (such as actuators 506shown in FIG. 5A).

Language of degree used herein, such as the terms “approximately,”“about,” “generally,” and “substantially” as used herein represent avalue, amount, or characteristic close to the stated value, amount, orcharacteristic that still performs a desired function or achieves adesired result. For example, the terms “approximately”, “about”,“generally,” and “substantially” may refer to an amount that is withinless than 10% of, within less than 5% of, within less than 1% of, withinless than 0.1% of, or within less than 0.01% of the stated value.

While specific embodiments have been described and illustrated, suchembodiments should be considered illustrative only and not as limitingthe disclosed embodiments as construed in accordance with theaccompanying claims.

What is claimed is:
 1. A surgical instrument apparatus for performing asurgical procedure within a body cavity of a patient, the apparatuscomprising: an elongate manipulator comprising a distal end configuredto receive an end effector and including a plurality of control linksextending through the manipulator and configured to cause movement ofthe distal end of the manipulator in response to movement of the controllinks in a longitudinal direction generally aligned with a length of themanipulator; and an actuator chassis disposed at a proximal end of themanipulator, the actuator chassis including a plurality of actuatorsslidingly mounted within the actuator chassis and configured to movelinearly in a direction aligned with the longitudinal direction, eachactuator being coupled to one of the control links, the actuators beingadjacently disposed about a curved periphery of the actuator chassis andincluding an outwardly oriented portion configured to couple a driveforce to the actuator to cause movement of the control link.
 2. Theapparatus of claim 1 wherein the curved periphery of the actuatorchassis is cylindrically shaped, and wherein the plurality of actuatorsare mounted within slots extending longitudinally along the peripheryand radially arranged about the periphery.
 3. The apparatus of claim 1wherein the actuator chassis periphery includes a curved portion and aflat portion, and wherein the plurality of actuators are mounted withinslots extending longitudinally along the curved portion and radiallyarranged about the curved portion, the flat portion facilitatinglocation of the surgical instrument apparatus adjacent to anotherapparatus including a corresponding flat portion.
 4. The apparatus ofclaim 3 wherein the another apparatus including the corresponding flatportion comprises another of the surgical instrument apparatus, andwherein the respective flat portions facilitate location of therespective elongate manipulators in proximity for insertion through acommon access port positioned to provide access to the body cavity ofthe patient.
 5. The apparatus of claim 1 wherein the outwardly orientedportions of the plurality of actuators are each shaped to engage acorresponding drive coupling configured to couple the drive force to theactuator.
 6. The apparatus of claim 5 wherein an actuator couplingportion of the actuator comprises a protrusion that extends outwardlybeyond the curved periphery of the actuator chassis.
 7. The apparatus ofclaim 6 further comprising a drive chassis including a respectiveplurality of drive couplers configured to couple drive forces to theplurality of actuators, the drive couplers arranged about the peripheryof the actuator chassis, each drive coupler comprising: an open channelportion configured to receive the respective actuator protrusions whenthe actuator chassis is inserted into the drive chassis; and a retainingportion configured to receive and retain the respective actuatorprotrusions when the drive chassis and the actuator chassis are rotatedthorough an angle to cause the retaining portions to engage therespective actuator protrusions.
 8. The apparatus of claim 7 wherein thedrive chassis is configured to permit the manipulator to be insertedthrough the drive chassis to cause the open channel portions to receivethe respective actuator protrusions.
 9. The apparatus of claim 1 whereinthe actuator chassis includes a transition portion between themanipulator and the actuator chassis, the transition portion configuredto laterally displace the control links for coupling to the respectiveactuators.
 10. The apparatus of claim 1 wherein the manipulatorcomprises at least one end effector control link configured to couple toan end effector, and wherein the actuator chassis comprises at least oneend effector actuator coupled to the end effector control link toactuate movements of the end effector.
 11. The apparatus of claim 10wherein the at least one end effector actuator is mounted within theactuator chassis to permit at least one of: longitudinal movementconfigured to actuate opening or closing of an end effector; orrotational movement configured to cause a corresponding rotation of theend effector.
 12. The apparatus of claim 11 wherein the at least one endeffector actuator comprises a single end effector actuator configured toperform both the longitudinal movement and the rotational movement. 13.The apparatus of claim 10 wherein the at least one end effector controllink is routed along a central bore of the actuator chassis and the endeffector actuator is mounted at a distal portion of the actuatorchassis.
 14. The apparatus of claim 1 wherein the manipulator furthercomprises: a rigid portion connected to the actuator chassis; and anactuatable articulated portion configured to cause the movement of thedistal end of the manipulator in response to the longitudinal movementof the control links.
 15. The apparatus of claim 14 further comprisingan unactuated articulated portion disposed between the rigid portion andthe chassis, the unactuated articulated portion configured to permit themanipulator to be bent to reduce an overall length of the manipulatorand actuator chassis during cleaning and sanitizing of the apparatus.